Collaborative emergent navigation based on biometrie weighted shared control

Abstract

This paper presents a new approach to shared control. It consists of combining orders from a mobile and a human. The weight of these orders is obtained by evaluating their corresponding efficiencies but also of his/her condition, which is estimated by continuously monitoring attached biosensors. We rely on a hierarchical architecture where the reactive layer provides a simple and adaptive combination of these sources. We have evaluated the resulting emergent behaviour for different tasks to measure their efficiencies under different circumstances. The system has been successfully tested in real environments from a quantitative and a qualitative point of view. © Springer-Verlag Berlin Heidelberg 2007.